This improves a limitation where Motion Magic velocity curve is coarse due to using a low-resolution sensor.
This was accomplished by increasing the arithmetic precision of the algorithm to better support smaller ranges in sensor values, typically seen with 10-turn analog pots or low-PPR encoders.

If you are using an older firmware release and you are not experiencing this limitation, then there is no need to update.

Thanks FRC Team 3244 - Granite City Gearheads, for providing the test conditions and confirming the fix.

Pigeon IMU firmware is also included but has not changed since 5.14.0.
CANifier firmware is also included but has not changed since Kickoff.

We strongly recommend instead using Phoenix 5.14.1 which has the official firmware that contains the final fix referenced in this pre-release.

This improves a limitation where **Motion Magic velocity curve** is **coarse** due to using a **low-resolution sensor**.
This was accomplished by increasing the arithmetic precision of the algorithm to better support smaller ranges in sensor values, typically seen with **ten-turn analog pots or low-PPR encoders**.
If you are using an older firmware release and you are not experiencing this limitation, then there is no need to update.
Future formal Phoenix releases will pick up this or newer firmware, as part of the normal release cycle.
Thanks **FRC Team 3244 - Granite City Gearheads**, for providing the test conditions and confirming the fix.